robo_car

This is a four wheel drive ackermann steer robot.

NOTE: development is done in ros2-humble.

first install the following (if you don't have them):

• pynput

  pip3 install pynput

• opencv

  sudo apt install python3-opencv -y

• ros2 humble vision-opencv package

  sudo apt install ros-humble-vision-opencv
  sudo apt install ros-humble-image-transport-plugins

• setup tool (ros2 python dev)

  pip3 install setuptools==58.2.0

clone (git clone [email protected]:samuko-things/robo_car.git) or Download the repo or in your ROS2 workspace, build all packages, and source it.

colcon build --packages-select robo_car_description my_ackermann_drive_controller robo_car_view_cam pynput_ackermann_teleop_drive --symlink-install

Basic Launch

to view robot in RVIZ:

$ ros2 launch mobo_bot_description rviz.launch.py

to spawn robot in gazebo:

$ ros2 launch mobo_bot_description sim.launch.py

opencv racetrack simulation:

$ ros2 launch robo_car_description sim_racetrack1.launch.py 

in a new terminal run:

$ ros2 run robo_car_view_cam view_cam

in a new terminal run (to drive robot with arrow key):

$ ros2 run pynput_ackermann_teleop_drive pynput_ackermann_teleop_drive